Method and manipulator gripper for spacing bundles of a bundle layer
AssigneeKUKA Roboter GmbH
InventorMichael Baumann
Life of this patent
Estimating the term…
Abstract
In a method for spacing bundles of a bundle layer by means of a manipulator gripper with at least one support base that engages bundles and a stop for the placement of bundles, separation between an edge of the support base and the stop is reduced, by a placement motion of the support base in a placement direction that is superimposed on the relative motion of the support base and the stop and is synchronized with this relative motion.
Claims17
A method for operating an automated manipulator gripper, comprising at least one support base that engages bundles, and a stop against which said bundles rest, comprising the steps of:
- engaging bundles with said support base and operating said manipulator gripper to reduce a separation between an edge of the support base and said stop in order to deposit bundles from said support base;
- and
- operating said manipulator gripper to cause said support base to execute a placement motion for said bundles in a placement direction that is superimposed on the relative motion of said support base and said stop, and that is synchronized with said relative motion.
A manipulator gripper system comprising:
- a manipulator gripper comprising a support base configured to engage bundles with said support base, and a stop spaced from said support base;
- a control unit configured to operate said manipulator gripper to reduce a separation between an edge of the support base and said stop in order to deposit bundles from said support base;
- and
- said control unit being configured to operate said manipulator gripper to cause said support base to execute a placement motion for said bundles in a placement direction that is superimposed on the relative motion of said support base and said stop, and that is synchronized with said relative motion.
A non-transitory computer-readable medium encoded with programming instructions, said medium being loaded into a computerized control unit of a manipulator gripper system that operates a manipulator gripper having a support base and a stop spaced from said support base, said programming instructions causing said control unit to:
- operate said manipulator to engage bundles with said support base and to then reduce a separation between an edge of the support base and said stop in order to deposit bundles from said support base;
- and
- operate said manipulator gripper to cause said support base to execute a placement motion for said bundles in a placement direction that is superimposed on the relative motion of said support base and said stop, and that is synchronized with said relative motion.
Dependencies are inferred from the claim text.